Fast and automatic detection and segmentation of unknown objects

Gert Kootstra*, Niklas Bergström, Danica Kragic

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperAcademicpeer-review

16 Citations (Scopus)

Abstract

This paper focuses on the fast and automatic detection and segmentation of unknown objects in unknown environments. Many existing object detection and segmentation methods assume prior knowledge about the object or human interference. However, an autonomous system operating in the real world will often be confronted with previously unseen objects. To solve this problem, we propose a segmentation approach named Automatic Detection And Segmentation (ADAS). For the detection of objects, we use symmetry, one of the Gestalt principles for figure-ground segregation to detect salient objects in a scene. From the initial seed, the object is segmented by iteratively applying graph cuts. We base the segmentation on both 2D and 3D cues: color, depth, and plane information. Instead of using a standard grid-based representation of the image, we use super pixels. Besides being a more natural representation, the use of super pixels greatly improves the processing time of the graph cuts, and provides more noise-robust color and depth information. The results show that both the object-detection as well as the object-segmentation method are successful and outperform existing methods.

Original languageEnglish
Title of host publication2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
PublisherIEEE Xplore
Pages442-447
Number of pages6
ISBN (Print)9781424486885
DOIs
Publication statusPublished - 1 Dec 2010
Externally publishedYes
Event2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
Duration: 6 Dec 20108 Dec 2010

Publication series

Name2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Conference

Conference2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
CountryUnited States
CityNashville, TN
Period6/12/108/12/10

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